A remote control system for a substation robot

Abstract

The present application provides a remote control system for a substation robot, which relates to the field of intelligent inspection technology. The remote control system includes: an image receiving module, a controller, a display screen, and an instruction processing module. When a target device with abnormal data is found, the image information of the target device collected by the substation robot is received, the location information of the substation robot is determined according to the image information and the prior map, and the prior map with the location information of the substation robot is displayed on the display screen; the inspection route drawn by the user on the prior map is received, the inspection route is converted into the inspection path of the substation robot, and a control instruction for controlling the substation robot to inspect along the inspection path is generated. In this way, after the target device with abnormal data is found, the substation robot can be remotely controlled to conduct a more comprehensive inspection of the device, which is conducive to improving the accuracy of fault detection.

Description

Technical Field

[0001] The present application belongs to the field of intelligent inspection technology, and in particular, relates to a remote control system for a substation robot. Background Art

[0002] The statements in this section merely provide background technical information related to the present application and do not necessarily constitute prior art.

[0003] With the development of information and automation technology, inspection robots are gradually replacing manual inspections of equipment in special environments. For example, substation inspection robots use autonomous mobile chassis and are equipped with a variety of sensor equipment including visible light high-definition cameras, infrared thermal imagers, gas analyzers, etc. They collect various types of information and transmit the information back through wireless communication networks. The main control room analyzes and predicts the information based on the returned information to achieve fault detection and risk warning.

[0004] The inventors found that when abnormal data of substation equipment is detected, more detailed substation equipment information needs to be obtained. However, most substation robots move along fixed tracks, and the environment inside the substation is complex. The positioning accuracy of substation inspection robots is not high. Therefore, it is difficult to conduct a comprehensive inspection of a specific substation equipment. Summary of the invention

[0005] In order to solve the above problems, the present application provides a remote control system of a substation robot, which is used to remotely control the substation robot to perform a more comprehensive inspection of a target device after discovering data abnormalities of the device.

[0006] In order to achieve the above objectives, the main technical solutions of this application are as follows:

[0007] The embodiment of the present application provides a remote control system for a substation robot, including: an image receiving module, for receiving image information of a target device collected by the substation robot;

[0008] A controller, used to determine the position information of the substation robot according to the image information and a pre-stored priori map, wherein the priori map includes the position information of each device in the substation and the track information of the substation robot;

[0009] A display screen, used for displaying a priori maps and marking the determined location information of the substation robot on the priori maps;

[0010] The instruction processing module is used to receive the inspection route drawn by the user on the prior map, convert the inspection route into an inspection path of the substation robot, and generate a control instruction for controlling the substation robot to inspect along the inspection path.

[0011] In one possible implementation, the controller is used to identify the target device based on the image information, and to obtain the distance information between the substation robot and the target device; determine the location information of the target device on the prior map, determine the actual distance between the substation robot and the target device based on the distance information and the track information of the substation robot, and determine the location information of the substation robot based on the location information of the target device and the actual distance.

[0012] In a possible implementation, the control instruction includes angle information for controlling the rotation of the substation robot; the instruction processing module is also used to determine whether the substation robot is facing the target device based on the starting position coordinates and the end position coordinates of the inspection route; if the substation robot is not facing the target device, the deviation angle of the target device relative to the forward direction of the substation robot is obtained, and the angle information for controlling the rotation of the substation robot is determined based on the deviation angle.

[0013] In a possible implementation, the inspection route includes a vertical inspection route and a horizontal inspection route, and the instruction processing module is used to determine the inspection path of the substation robot according to the scale of the priori map.

[0014] In a possible implementation, the instruction processing module is used to determine the vertical inspection path and the horizontal inspection path of the substation robot according to the scale of the prior map, and determine the time to switch to different inspection paths according to the running speed of the substation robot.

[0015] In a possible implementation, the system further includes an inspection route drawing module, which is used to receive an inspection route triggered by a user on a priori map and convert the inspection route into a horizontal inspection route and a vertical inspection route.

[0016] In a possible implementation, the inspection route drawing module is further used to receive inspection endpoint location information triggered by a user, and automatically generate an inspection route according to the position of the substation robot on a priori map.

[0017] In a possible implementation, the display screen is a touch display screen, and the user draws the inspection route on the touch display screen.

[0018] In a possible implementation, it further includes an instruction sending module, which is used to send the generated control instruction to the substation robot.

[0019] In a possible implementation, the instruction processing module is further used to generate instruction information for controlling the substation robot to return to the track according to the location information and track information of the substation robot after the substation robot completes the inspection of the target equipment.

[0020] The present application provides a remote control system for a substation robot, including: an image receiving module, a controller, a display screen, and an instruction processing module. When a target device with abnormal data is found, the image information of the target device collected by the substation robot is received, the location information of the substation robot is determined according to the image information and the prior map, and the prior map with the location information of the substation robot is displayed on the display screen; the inspection route drawn by the user on the prior map is received, the inspection route is converted into the inspection path of the substation robot, and a control instruction for controlling the substation robot to inspect along the inspection path is generated. In this way, after the target device with abnormal data is found, the substation robot can be remotely controlled to conduct a more comprehensive inspection of the device, which is conducive to improving the accuracy of fault detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0022] Figure 1 It is a structural schematic diagram of the remote control system of the substation robot provided in the embodiment of the present application. DETAILED DESCRIPTION

[0023] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0024] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0026] See also Figure 1 , Figure 1 Schematic diagram of the remote control system of the substation robot provided in the embodiment of the present application. Figure 1 As shown in , the embodiment of the present application provides a remote control system 100 for a substation robot, comprising:

[0027] An image receiving module 110 is used to receive image information of a target device collected by the substation robot;

[0028] The controller 120 is used to determine the position information of the substation robot according to the image information and a pre-stored priori map, wherein the priori map includes the position information of each device in the substation and the track information of the substation robot;

[0029] A display screen 130, used for displaying a priori maps and marking the determined location information of the substation robot on the priori maps;

[0030] The instruction processing module 140 is used to receive the inspection route drawn by the user on the prior map, convert the inspection route into an inspection path of the substation robot, and generate a control instruction for controlling the substation robot to inspect along the inspection path.

[0031] In a specific implementation, the substation inspection robot 200 includes an autonomous mobile chassis 210, on which a sensor device 220 is mounted, including a visible light high-definition camera, an infrared thermal imager, a gas analyzer, etc. Various types of information are collected through the sensor device 220 and the information is transmitted back through the wireless communication network. The main control room analyzes and predicts based on the transmitted information. When abnormal data of the substation equipment is detected, the remote control system receives the image information of the target device collected by the substation robot and uploads it to the controller 120. The controller 120 determines the location information of the substation robot based on the image information and the pre-stored prior map. Specifically, the controller identifies the target device in the image information, and then matches it with the devices distributed in the prior map to determine the location of the target device, and then determines the location information of the substation robot based on the distance between the substation robot and the target device. The prior map is displayed on the display screen 130, and the determined location information of the substation robot is marked on the prior map for the user to draw an inspection route. Furthermore, the inspection route is converted into an inspection path of the substation robot through the instruction processing module, and a control instruction for controlling the substation robot to perform inspection along the inspection path is generated.

[0032] In this way, after discovering the target device with abnormal data, the substation robot can be remotely controlled to conduct a more comprehensive inspection of the device, which is conducive to improving the accuracy of fault detection.

[0033] As an optional embodiment, the controller is used to identify the target device based on the image information, and obtain the distance information between the substation robot and the target device; determine the location information of the target device on the prior map, determine the actual distance between the substation robot and the target device based on the distance information and the track information where the substation robot is located, and determine the location information of the substation robot based on the location information of the target device and the actual distance. Specifically, this embodiment estimates the distance information between the substation robot and the target device based on the image information according to the image ranging method, and combines the track information where the substation robot is located to obtain an accurate actual distance, which is conducive to improving the positioning accuracy of the substation robot.

[0034] As an optional embodiment, the control instruction includes angle information for controlling the rotation of the substation robot; the instruction processing module is also used to determine whether the substation robot is facing the target device according to the starting position coordinates and the end position coordinates of the inspection route; if the substation robot is not facing the target device, the deflection angle of the target device relative to the forward direction of the substation robot is obtained, and the angle information for controlling the rotation of the substation robot is determined according to the deflection angle. In this way, it can ensure that the target device is within the monitoring field of view of the substation robot, thereby improving the inspection efficiency.

[0035] As an optional embodiment, the inspection route drawn by the user on the prior map is converted into the inspection path of the substation robot. If the inspection route is too complicated, there will be certain errors in the conversion process. Therefore, in this embodiment, the inspection route includes a vertical inspection route and a horizontal inspection route, and the instruction processing module is used to determine the inspection path of the substation robot according to the scale of the prior map. Optionally, the instruction processing module is used to determine the vertical inspection path and the horizontal inspection path of the substation robot according to the scale of the prior map, and determine the time to switch to different inspection paths according to the running speed of the substation robot. In this way, it can be ensured that the inspection route on the prior map can be accurately converted into the real inspection path of the substation robot, and the amount of calculation can be reduced to improve the inspection efficiency.

[0036] As an optional embodiment, it also includes an inspection route drawing module, which is used to receive the inspection route triggered by the user on the prior map and convert the inspection route into a horizontal inspection route and a vertical inspection route. Optionally, the inspection route drawing module is also used to receive the inspection terminal position information triggered by the user, and automatically generate the inspection route according to the position of the substation robot on the prior map. Optionally, the display screen is a touch display screen, and the user draws the inspection route on the touch display screen.

[0037] As an optional embodiment, it also includes an instruction sending module 150 for sending the generated control instructions to the substation robot. The substation robot performs a comprehensive inspection of the target equipment along the set inspection path according to the received control instructions to obtain more detailed substation equipment information.

[0038] As an optional embodiment, after a comprehensive inspection of the target equipment, the substation robot needs to continue to inspect along a specific track. Therefore, the command processing module 140 is also used to generate command information for controlling the substation robot to return to the track after the substation robot completes the inspection of the target equipment, based on the location information and track information of the substation robot.

[0039] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0040] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A remote control system for a substation robot, characterized in that: include: An image receiving module, used to receive image information of target equipment collected by the substation robot; A controller is used to determine the position information of the substation robot according to the image information and a pre-stored priori map, wherein the priori map includes the position information of each device in the substation and the track information where the substation robot is located; the controller is used to identify the target device according to the image information, and obtain the distance information between the substation robot and the target device; determine the position information of the target device on the priori map, determine the actual distance between the substation robot and the target device according to the distance information and the track information where the substation robot is located, and determine the position information of the substation robot according to the position information of the target device and the actual distance; A display screen, used for displaying a priori maps and marking the determined location information of the substation robot on the priori maps; The instruction processing module is used to receive the inspection route drawn by the user on the prior map, convert the inspection route into the inspection path of the substation robot, and generate control instructions for controlling the substation robot to inspect along the inspection path; the inspection route includes a vertical inspection route and a horizontal inspection route, and the instruction processing module is used to determine the inspection path of the substation robot according to the scale of the prior map.

2. The remote control system of the substation robot according to claim 1, characterized in that: The control instruction includes angle information for controlling the rotation of the substation robot; the instruction processing module is also used to determine whether the substation robot is facing the target device based on the starting position coordinates and the end position coordinates of the inspection route; if the substation robot is not facing the target device, the deviation angle of the target device relative to the forward direction of the substation robot is obtained, and the angle information for controlling the rotation of the substation robot is determined based on the deviation angle.

3. The remote control system of the substation robot according to claim 1, characterized in that: The instruction processing module is used to determine the vertical inspection path and the horizontal inspection path of the substation robot according to the scale of the prior map, and determine the time to switch to different inspection paths according to the running speed of the substation robot.

4. The remote control system of the substation robot according to claim 1, characterized in that: It also includes an inspection route drawing module, which is used to receive the inspection route triggered by the user on the prior map and convert the inspection route into a horizontal inspection route and a vertical inspection route.

5. The remote control system of the substation robot according to claim 4, characterized in that: The inspection route drawing module is also used to receive the inspection endpoint location information triggered by the user, and automatically generate the inspection route according to the position of the substation robot on the prior map.

6. The remote control system of the substation robot according to claim 1, characterized in that: The display screen is a touch display screen, and the user draws an inspection route on the touch display screen.

7. The remote control system of the substation robot according to claim 1, characterized in that: It also includes an instruction sending module for sending the generated control instructions to the substation robot.

8. The remote control system of the substation robot according to claim 1, characterized in that: The instruction processing module is also used to generate instruction information for controlling the substation robot to return to the track according to the location information and track information of the substation robot after the substation robot completes the inspection of the target equipment.

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